CN109901138A - Laser radar scaling method, device, equipment and storage medium - Google Patents
Laser radar scaling method, device, equipment and storage medium Download PDFInfo
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- CN109901138A CN109901138A CN201811621807.1A CN201811621807A CN109901138A CN 109901138 A CN109901138 A CN 109901138A CN 201811621807 A CN201811621807 A CN 201811621807A CN 109901138 A CN109901138 A CN 109901138A
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Abstract
The present invention relates to a kind of laser radar scaling method, device, equipment and storage mediums, terminal is in preset calibration scene, obtain the point cloud data frame pair of laser radar to be calibrated, and obtain high data, and then pass through calibration algorithm, according to point cloud data frame to and high data, determine the calibration result of laser radar to be calibrated, the calibration result of laser radar to be calibrated can be automatically determined, the process that hand dipping obtains the calibration result of laser radar is avoided, and then improves the calibration efficiency of laser radar.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of laser radar scaling method, device, equipment and
Storage medium.
Background technique
With the development of unmanned technology, the location information of vehicle periphery is usually obtained using onboard sensor, into
And the information detected according to sensor, the vehicle of automatic Pilot is planned, decision or control.
In general, onboard sensor will use multiple sensors to obtain the location information of vehicle periphery.But multiple sensings
It has a certain difference, is needed by by multiple sensors between relative pose (including relative position and direction) between device
Relative pose is demarcated, so that the location information of the collected vehicle periphery of multiple sensors is unified to the same coordinate system
Under, and then according to the location information under the same coordinate system, Vehicular automatic driving is planned, decision or control.It is above-mentioned
The process of calibration refers to obtaining the process of the relative position between multiple sensors.Laser radar is as a kind of common sensing
Device, the method for the scaling method of laser radar usually physical measurement by hand obtain the opposite position of laser radar and other sensors
It sets, matching is marked depending on the relative position, to obtain the relative pose between laser radar and other sensors.
Using the above method, laser radar is demarcated by manual physical measurement, especially for high-volume laser
Low efficiency is demarcated in the calibration of radar.
Summary of the invention
Based on this, it is necessary to aiming at the problem that laser radar demarcates low efficiency, provide a kind of laser radar scaling method, dress
It sets, equipment and storage medium.
In a first aspect, a kind of laser radar scaling method, comprising:
In preset calibration scene, the point cloud data frame pair of laser radar to be calibrated is obtained；The point cloud data frame pair
Two point cloud datas of the different directions including the laser radar to be calibrated on same position；
Obtain high data；
By calibration algorithm, according to the point cloud data frame to the high data, determine and to be calibrated swash
The calibration result of optical radar；The calibration algorithm is used for the point cloud data and high data of laser radar to be calibrated
Be converted to the data under the same coordinate system.
It is described in preset calibration scene in one of the embodiments, obtain the point cloud number of laser radar to be calibrated
According to frame pair, comprising:
At the same position in the calibration scene, the first point cloud data and the of the laser radar to be calibrated is obtained
Two point cloud datas；The direction of first point cloud data and the direction of second point cloud data are different；
First point cloud data and corresponding second point cloud data are determined as the point cloud data frame pair.
It is described by calibration algorithm in one of the embodiments, it is led according to the point cloud data frame to the inertia
Navigate system data, determines the calibration result of laser radar to be calibrated, comprising:
By the calibration algorithm, the point cloud data frame is obtained to the position between the high data
Transformational relation；
According to the position transformational relation, the calibration result of the laser radar to be calibrated is determined.
It is described by the calibration algorithm in one of the embodiments, it obtains the point cloud data frame and is used to described
Position transformational relation between property guidance system data, comprising:
By the calibration algorithm, first between first point cloud data and the high data is obtained
Relative pose；
By the calibration algorithm, second between second point cloud data and the high data is obtained
Relative pose；
According to first relative pose and second relative pose, the position transformational relation is determined.
It is described by the calibration algorithm in one of the embodiments, it obtains the point cloud data frame and is used to described
Position transformational relation between property guidance system data, further includes:
First point cloud data and second point cloud data are spliced, first point cloud data and institute are obtained
State the third relative pose between the second point cloud data；
Determine that the position turns according to first relative pose, second relative pose and the third relative pose
Change relationship.
It is described according to the position transformational relation in one of the embodiments, determine the laser radar to be calibrated
Calibration result, comprising:
According to the position transformational relation, the point cloud data frame is led to being transformed into inertia from laser radar coordinate system
It navigates under system coordinate system, obtains the calibration result of the laser radar to be calibrated.
If the calibration result includes multiple calibrating parameters in one of the embodiments, the method also includes:
The multiple calibrating parameters are scanned for, are enumerated and process of fitting treatment, target designation parameter is obtained.
It is described according to the position transformational relation in one of the embodiments, determine the laser radar to be calibrated
After calibration result, the method also includes:
The calibration result of the laser radar to be calibrated is verified by the point cloud data that the laser radar to be calibrated obtains.
Second aspect, a kind of laser radar caliberating device, described device include:
First obtains module, for obtaining the point cloud data frame pair of laser radar to be calibrated in preset calibration scene；
The point cloud data frame is to two point cloud datas including different directions of the laser radar to be calibrated on same position；
Second obtains module, for obtaining high data；
Demarcating module, for by calibration algorithm, according to the point cloud data frame to the high data,
Determine the calibration result of laser radar to be calibrated；The calibration algorithm is used for the point cloud data of laser radar and inertial navigation system
System data are converted to the data under the same coordinate system.
The third aspect, a kind of computer equipment, including memory and processor, the memory are stored with computer journey
Sequence, the processor execute method and step described in above-mentioned laser radar scaling method.
Fourth aspect, a kind of computer readable storage medium are stored thereon with computer program, the computer program quilt
Processor realizes method and step described in above-mentioned laser radar scaling method when executing.
Above-mentioned laser radar scaling method, device, equipment and storage medium, terminal obtain in preset calibration scene
The point cloud data frame pair of laser radar to be calibrated, and high data is obtained, and then by calibration algorithm, according to a cloud
Data frame to and high data, determine the calibration result of laser radar to be calibrated.In the present embodiment, terminal is by obtaining
Take the point cloud data frame of laser radar to be calibrated to and high data, by punctuate algorithm, by laser thunder to be calibrated
The point cloud data and high data that reach are transformed into the data under the same coordinate system, automatically determine laser radar to be calibrated
Calibration result avoid hand so that the calibration result for obtaining laser radar to be calibrated is automatically obtained by calibration algorithm
Work measurement obtains the process of the calibration result of laser radar, and then improves the calibration efficiency of laser radar.
Detailed description of the invention
Fig. 1 is the schematic diagram for the laser radar Analysis environment that one embodiment provides；
Fig. 2 is the flow diagram of laser radar scaling method in one embodiment；
Fig. 3 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 4 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 5 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 6 is the flow diagram of laser radar scaling method in another embodiment；
Fig. 7 is the structural schematic diagram for the laser radar caliberating device that one embodiment provides；
Fig. 8 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides；
Fig. 9 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides；
Figure 10 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides；
Figure 11 is the internal structure chart for the calculating knot equipment that one embodiment provides.
Specific embodiment
Laser radar scaling method, device, equipment and storage medium provided by the present application, it is intended to solve calibration low efficiency
Problem.Below by by embodiment and in conjunction with attached drawing specifically to the technical solution of the technical solution of the application and the application such as
What, which solves above-mentioned technical problem, is described in detail.These specific embodiments can be combined with each other below, for identical or
Similar concept or process may repeat no more in certain embodiments.
It should be noted that the method for laser radar calibration provided by the embodiments of the present application, can be applied not only to nobody
In the scene of driving, it can also be applied in the scene of robot navigation, the embodiment of the present application does not do specific application scenarios
Limitation.
Laser radar scaling method provided in this embodiment, can be adapted in application environment as shown in Figure 1.Such as Fig. 1
Shown, laser radar 10 and inertial navigation system 20 may be mounted at any position of vehicle, pass through acquisition by calibration algorithm
Relative position information between laser radar 10 and inertial navigation system 20, to determine the calibration result of laser radar.
It should be noted that laser radar scaling method provided by the embodiments of the present application, executing subject can be laser
The device of Radar Calibration, the device can be implemented as laser radar mark by way of software, hardware or software and hardware combining
Fixed computer equipment it is some or all of.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.
Fig. 2 is the flow diagram of laser radar scaling method in one embodiment, and what is involved is pass through mark for the present embodiment
Determine algorithm, according to the point cloud data frame of laser radar to be calibrated to and inertial navigation system, automatically determine laser radar to be calibrated
Calibration result detailed process.As shown in Fig. 2, method includes the following steps:
S101, in preset calibration scene, obtain the point cloud data frame pair of laser radar to be calibrated；Point cloud data frame pair
Two point cloud datas of the different directions including laser radar to be calibrated on same position.
Specifically, preset calibration scene can be the typical mesh comprising making laser radar form good point cloud imaging characteristic
Mark, and the scene that inertial navigation system can be made normally to position can be the outdoor cross that roadside has continuous, straight metope
Crossing；Roadside has the L shape route of continuous, straight metope；There is the outdoor crossroad neatly built in roadside；Roadside, which has, neatly to be built
The L shape route built；What there was a typical target that meets the requirements in roadside wants non-perpendicular crossing or L shape route；Roadside, which has to meet, seeks typical mesh
The combine scenes that any one of target parking lot or vacant lot or several scenes are formed.For example, preset calibration scene can be with
Including being a straight, continuous road tooth, and inertial navigation system can normal connecting global positioning system (Global
Positioning System, GPS), the scene that inertial navigation system is normally positioned.Point cloud data can be laser
When radar signal is irradiated to body surface, the reflection signal of the information such as carrying orientation, distance for being reflected can be in point cloud data
The strength information of location information and corresponding reflection laser radar signal including multiple points.Point cloud data frame is to can be
Two point cloud datas of different directions of the laser radar to be calibrated on same position.
Specifically in preset calibration scene, the point cloud data frame clock synchronization of laser radar to be calibrated is being obtained, can made
The carrier of laser radar is along two different direction runnings, to obtain the point cloud data of different directions.For example, swashing to be calibrated
In the collection process of the point cloud data of optical radar, travel vehicle back and forth one time along two biggish directions of different differences,
The data for acquiring four times respectively can be the carrier where laser radar to be calibrated, when being in halted state, obtain wait mark
The point cloud data of laser radar is determined, wherein the carrier where laser radar to be calibrated can repeatedly be located in a driving process
In stationary state, to obtain the point cloud data of multiframe laser radar to be calibrated；It is also possible to above-mentioned carrier in slow driving status
When, obtain the point cloud data of multiframe laser radar to be calibrated；The embodiment of the present application is without limitation.Above-mentioned carrier can be certainly
It is dynamic to drive vehicle, assist driving vehicle or robot, the embodiment of the present application without limitation.Obtaining laser radar to be calibrated
Point cloud data after, choose same position on different directions two point cloud datas be point cloud data frame pair.Laser to be calibrated
The point cloud data frame of radar is to can be multiple point cloud data frames pair.
S102, high data is obtained.
Specifically, high data can be speed, yaw angle and the position obtained by inertial navigation system
Etc. data, can also be and connect by inertial navigation system with GPS, the data such as above-mentioned speed, yaw angle and position are repaired
Positive to obtain more accurate data, the embodiment of the present application is without limitation.Specifically obtaining high data
Process can be through the carrier where laser radar to be calibrated and inertial navigation system, the inertial navigation that slowly traveling obtains
System data is also possible to when remaining static, obtain by the carrier where laser radar to be calibrated and inertial navigation system
The high data obtained.
S103, by calibration algorithm, according to point cloud data frame to and high data, determine laser thunder to be calibrated
The calibration result reached；Calibration algorithm is used to be converted to the point cloud data of laser radar to be calibrated and high data together
Data under one coordinate system.
Specifically, calibration algorithm can be used for by point cloud data frame to and high data be converted to same coordinate
Data under system, can be the point cloud data frame of laser radar to be calibrated is corresponding to high data is converted to
The algorithm of data under coordinate system can also be the point cloud data frame for converting high data to laser radar to be calibrated
To the algorithm of the data under corresponding coordinate system, can also be the point cloud data frame pair and inertial navigation of laser radar to be calibrated
System data is transformed into the algorithm of the data under third party's coordinate system, and the embodiment of the present application is without limitation.In above-mentioned implementation
On the basis of example, can by establishing the location information of the above-mentioned typical target of point cloud data frame centering of laser radar to be calibrated,
Transformational relation between the location information of the typical target in high data determines the mark of laser radar to be calibrated
Determine result.
Above-mentioned laser radar scaling method, terminal by obtain the point cloud data frame of laser radar to be calibrated to and inertia lead
Navigate system data, and by punctuate algorithm, the point cloud data of laser radar to be calibrated and high data are transformed into together
Data under one coordinate system, automatically determine the calibration result of laser radar to be calibrated, so that obtaining the mark of laser radar to be calibrated
It is fixed to avoid the process that hand dipping obtains the calibration result of laser radar the result is that automatically obtain by calibration algorithm, into
And improve the calibration efficiency of laser radar.
Above-described embodiment emphasis describe terminal obtain the point cloud data frame of laser radar to be calibrated to and inertial navigation system
System data, and then by calibration algorithm, the calibration result of laser radar to be calibrated is automatically determined, is implemented below by shown in Fig. 3
Example is described in detail the point cloud data frame pair how terminal obtains laser radar to be calibrated.
Fig. 3 is the flow diagram of laser radar scaling method in another embodiment, and what is involved is terminals for the present embodiment
The detailed process of the point cloud data frame pair of laser radar to be calibrated is obtained, as shown in figure 3, above-mentioned S101 is " in preset Calibration Field
In scape, obtain the point cloud data frame of laser radar to be calibrated to " a kind of possible implementation the following steps are included:
S201, calibration scene in same position at, obtain the first point cloud data and second of laser radar to be calibrated
Point cloud data；The direction of first point cloud data and the direction of the second point cloud data are different.
Specifically, the first point cloud data and the second point cloud data for obtaining laser radar to be calibrated, can be by above-mentioned
The carrier of laser radar to be calibrated is at same position, towards different directions, obtains the first point cloud data and second point respectively
Cloud data are also possible to the carrier of laser radar to be calibrated and are obtaining multiple point cloud datas by different orientation movements, from multiple
It is chosen at same position in point cloud data, and towards two different point cloud datas, respectively the first point cloud data and second
Point cloud data, the embodiment of the present application are without limitation.For example, when the carrier of laser radar to be calibrated is vehicle, Ke Yitong
It crosses a road tooth of the vehicle in calibration scene to travel back and forth, it is assumed that travel to the left for traveling to the left and to right travel, acquisition
Multiple first point cloud datas and multiple second point cloud datas to right travel.
S202, the first point cloud data and corresponding second point cloud data are determined as point cloud data frame pair.
Specifically, on the basis of the above embodiments, the first point cloud data and the second point cloud data are obtained, it can be by first
Point cloud data the second point cloud data corresponding with its position is determined as point cloud data frame pair.Continue to be demarcated above by vehicle edge
For a road tooth in scene travels back and forth, further it is assumed that 5 the first point cloud datas travelled to the left altogether and
To 5 the second point cloud datas of right travel, wherein 5 the first point cloud datas are respectively in position 1, position 2, position 3, position 4
It is obtained with position 5, the first point cloud data 1, the first point cloud data 2, the first point cloud data 3, the first point cloud data 4 and first point
Cloud data 5；5 the second point cloud datas are respectively to obtain in position 1, position 2, position 3, position 4 and position 5, second point cloud
Data 1, the second point cloud data 2, the second point cloud data 3, the second point cloud data 4 and the second point cloud data 5.Wherein, with first point
Corresponding second point cloud data of cloud data 1 is the second point cloud data 1 obtained in position 1, corresponding with the first point cloud data 2
Two point cloud datas are the second point cloud data 2 obtained in position 2, second point cloud data corresponding with the first point cloud data 3 be
The second point cloud data 3 that position 3 obtains, second point cloud data corresponding with the first point cloud data 4 is second obtained in position 4
Point cloud data 4, second point cloud data corresponding with the first point cloud data 5 are the second point cloud data 5 obtained in position 5.By
One point cloud data 1 and the second point cloud data 1 are determined as point cloud data frame pair, and the first point cloud data 2 and the second point cloud data 2 determine
For point cloud data frame pair, the first point cloud data 3 and the second point cloud data 3 are determined as point cloud data frame pair, 4 He of the first point cloud data
Second point cloud data 4 is determined as point cloud data frame pair, and the first point cloud data 5 and the second point cloud data 5 are determined as point cloud data frame
It is right.
Above-mentioned laser radar scaling method, terminal obtain laser thunder to be calibrated by the same position in calibration scene
The first point cloud data and the second point cloud data reached, and the first point cloud data and corresponding second point cloud data are determined as a cloud
Data frame pair, so that terminal automatically obtains the calibration result of laser radar to be calibrated by calibration algorithm, by thus according to the
The point cloud data frame pair that one point cloud data and corresponding second point cloud data are formed, improves the calibration knot of laser radar to be calibrated
The accuracy of fruit.
Fig. 4 is the flow diagram of another embodiment laser radar scaling method, and what is involved is terminals to lead to for the present embodiment
Calibration algorithm is crossed, determines the detailed process of the calibration result of laser radar to be calibrated, as shown in figure 4, above-mentioned S103 " passes through calibration
Algorithm, according to point cloud data frame to and high data, determine the calibration result of laser radar to be calibrated " a kind of possibility
Implementation the following steps are included:
S301, pass through calibration algorithm, obtain point cloud data frame and pass is converted to the position between high data
System.
Specifically, on the basis of the above embodiments, can by typical target laser radar to be calibrated point cloud number
According to position of the position and the typical target of frame centering in high data, laser radar coordinate to be calibrated is determined
Position transformational relation between system and inertial navigation system coordinate system.Coordinate system transfer equation is enumerated specifically, can be, is determined
Position transformational relation；It is also possible to choose coordinates of targets transfer equation by enumerating multiple coordinate transfer equations, determine that position turns
Change relationship；The embodiment of the present application is without limitation.
S302, according to position transformational relation, determine the calibration result of laser radar to be calibrated.
Specifically, it can be the position by typical target in the point cloud data frame pair of laser radar to be calibrated, and should
Position of the typical target in high data determines laser radar coordinate system to be calibrated and inertial navigation system coordinate
Position transformational relation between system, is determined as the calibration result of laser radar to be calibrated；It can also be to above-mentioned position transformational relation
Visualization processing is carried out, the transformational relation after obtaining visualization processing is the calibration result of laser radar to be calibrated；The application is real
It is without limitation to apply example.
Above-mentioned laser radar scaling method, terminal by calibration algorithm obtain point cloud data frame to and inertial navigation system number
Position transformational relation between, and according to position transformational relation, the calibration result of laser radar to be calibrated is automatically determined, so that
The calibration result of laser radar to be calibrated is obtained automatically by calibration algorithm, is avoided hand dipping and is obtained laser radar
The process of calibration result, and then improve the calibration efficiency of laser radar.
Terminal is described in detail by calibration algorithm in embodiment illustrated in fig. 4, obtain point cloud data frame to and inertial navigation number
Position transformational relation between, and then according to position transformational relation, determine the calibration result of laser radar to be calibrated.Lead to below
Embodiment illustrated in fig. 5 is crossed to be described in detail how terminal obtains point cloud data frame to the position conversion between inertial navigation data
Relationship.
Fig. 5 is the flow diagram of another embodiment laser radar scaling method, and what is involved is obtain point for the present embodiment
Cloud data frame is to the detailed process of the position transformational relation between inertial navigation data, as shown in figure 5, above-mentioned S301 " passes through
Calibration algorithm obtains point cloud data frame to the position transformational relation between high data " a kind of possible realization
Mode the following steps are included:
S401, the first opposite position by calibration algorithm, between the first point cloud data of acquisition and high data
Appearance.
Specifically, the first relative pose can be the position indicated between the first point cloud data and high data
Transformational relation can be through calibration algorithm, obtain the first phase between the first point cloud data and high data
To pose.For example, can be by the coordinate system transfer equation enumerated between the first point cloud data and high data, really
Fixed first relative pose；It is also possible to the coordinate system by enumerating between multiple first point cloud datas and high data
Transfer equation, the selection the smallest coordinate system transfer equation of error are the first relative pose；The embodiment of the present application is without limitation.
S402, the second opposite position by calibration algorithm, between the second point cloud data of acquisition and high data
Appearance.
Specifically, the second relative pose can be the position indicated between the second point cloud data and high data
Transformational relation can be through calibration algorithm, obtain the second phase between the second point cloud data and high data
To pose.The specific process for obtaining the second relative pose can be similar with the acquisition process of above-mentioned first relative pose, herein not
It repeats again.
S403, according to the first relative pose and the second relative pose, determine position transformational relation.
It specifically, on the basis of the above embodiments, can when terminal obtains the first relative pose and the second relative pose
To determine position transformational relation according to the first relative pose and the second relative pose.First relative pose can be first cloud number
According to and with position transformational relation between inertial navigation system, the second relative pose is the second point cloud data and inertial navigation system
Between position transformational relation.First point cloud data and the second point cloud data are that same position difference is to be calibrated sharp towards what is obtained
The point cloud data of optical radar.That is, the position data by typical target in the corresponding coordinate system of the first point cloud data, and
The typical target passes through the first relative pose and the second relative pose in the position data of the corresponding coordinate system of the second point cloud data
Unification arrives above-mentioned position transformational relation into a coordinate system.For example, position of the typical target A in the first point cloud data
It is set to A1, the position in the second point cloud data is A2, by obtain the first point cloud data and high data the
One relative pose T1, obtaining location information of the typical target A in inertial navigation system in the first point cloud data is A1+T1；It is logical
The the second relative pose T2 for obtaining the second point cloud data and high data is crossed, typical mesh in the second point cloud data is obtained
Marking location information of the A in inertial navigation system is A2+T2；Wherein, location information A1+T1 is identical as location information A2+T2, then
Can be identical as location information A2+T2 according to location information A1+T1, determine the first point cloud data A1 and the second point cloud data A2 it
Between transformational relation, the as position transformational relation.
Above-mentioned laser radar scaling method, terminal obtain the first point cloud data and inertial navigation system by calibration algorithm
The first relative pose between data, and by calibration algorithm, it obtains between the second point cloud data and high data
The second relative pose determine position transformational relation and then according to the first relative pose and the second relative pose.The present embodiment
In, terminal obtains the first relative pose and the second relative pose by calibration algorithm automatically, and then according to the first relative pose and
Second relative pose automatically determines position transformational relation so that the calibration result of laser radar to be calibrated be by calibration algorithm from
Dynamic acquisition, the process that hand dipping obtains the calibration result of laser radar is avoided, and then improve the calibration of laser radar
Efficiency.
It on the basis of the above embodiments, can also be according to the first relative pose, the second relative pose and first cloud number
Position transformational relation is determined according to the third relative pose between the second point cloud data, is come below by embodiment illustrated in fig. 6 detailed
Thin description.
Fig. 6 is the flow diagram of another embodiment laser radar scaling method, and what is involved is terminal roots for the present embodiment
It is determined according to the third relative pose between the first relative pose, the second relative pose and the first point cloud data and the second point cloud data
The detailed process of position transformational relation, as shown in fig. 6, this method is further comprising the steps of:
S501, the first point cloud data and the second point cloud data are spliced, obtains the first point cloud data and second point cloud
Third relative pose between data.
Specifically, the first point cloud data and the second point cloud data can be spliced, to obtain spliced cloud number
According to, it may include two relative position informations of same typical target in spliced point cloud data, then it can be same according to this
Typical target determines the relative positional relationship between the first point cloud data and the second point cloud data, determines the first point cloud data and
Predictive conversion relationship between two point cloud datas, as third relative pose.
S502, position transformational relation is determined according to the first relative pose, the second relative pose and third relative pose.
Specifically, on the basis of the above embodiments, terminal obtains the first relative pose, the second relative pose and third
After relative pose, predictive conversion that can first according to third relative pose, i.e. between the first point cloud data and the second point cloud data
Relationship determines the predictive conversion relationship between the first point cloud data and the second point cloud data, further according to above-mentioned first relative pose,
Second relative pose, and, the predictive conversion relationship between the first point cloud data and the second point cloud data determines that position conversion is closed
System.Determine that position turns according to the first relative pose and the second relative pose described in specific conversion process and above-described embodiment
The process for changing relationship is similar, and details are not described herein again.
The scaling method of above-mentioned laser radar, terminal by splicing to the first point cloud data and second source data,
Third relative pose is obtained, and then determines that position is converted according to the first relative pose, the second relative pose and third relative pose
Relationship automatically determines the calibration result of laser radar to be calibrated according to position transformational relation, so that automatically by the first phase
Before determining position transformational relation to pose and the second relative pose, terminal first obtains the first point cloud data and the second point cloud data
Between predictive conversion relationship so that the calibration result of the laser radar to be calibrated obtained automatically is more accurate.
On the basis of the above embodiments, the point cloud data of laser radar to be calibrated can be transformed into inertial navigation by terminal
In system under coordinate system, to obtain the calibration result of laser radar to be calibrated.
Optionally, above-mentioned S302 " according to position transformational relation, determining the calibration result of laser radar to be calibrated " one kind can
The implementation method of energy includes: that point cloud data frame is transformed into inertia to from laser radar coordinate system according to position transformational relation
Under navigation system coordinate system, the calibration result of laser radar to be calibrated is obtained.
Specifically, it is above-mentioned be embodiment on the basis of, according to position transformational relation, obtain laser radar to be calibrated
When calibration result, point cloud data frame can be transformed under inertial navigation system coordinate system to from laser radar coordinate system, be made
It obtains through the data of the acquisition of laser radar to be calibrated with the coordinate system of inertial navigation system come what is indicated, obtains laser to be calibrated
The calibration result of radar.
Further, when calibration result includes multiple calibrating parameters, target can also be obtained according to multiple calibrating parameters
Calibrating parameters determine the calibration result of laser radar to be calibrated according to target designation parameter.Optionally, above-mentioned S302 " according to
Position transformational relation determines the calibration result of laser radar to be calibrated " a kind of possible implementation method includes: to join to multiple calibration
Number is scanned for, is enumerated and process of fitting treatment, obtains target designation parameter.
Specifically, on the basis of the above embodiments, can according to the point cloud data frame of laser radar to be calibrated to it is used
Property guidance system data enumerate multiple coordinate transfer equations, the corresponding calibrating parameters of each coordinate transfer equation can then obtain
Take multiple calibrating parameters.And then can be by searching out the calibrating parameters in multiple corresponding coordinate transfer equations, then enumerate
The small a part of coordinate transfer equation of error in multiple coordinate transfer equations, and then a part of coordinate transfer equation small to error
It is fitted processing, obtains target designation parameter.
On the basis of the above embodiments, after terminal obtains the calibration result of laser radar to be calibrated, can also lead to
Point cloud data is crossed to verify the accuracy of the calibration result of the laser radar to be calibrated.Optionally, according to position transformational relation,
After the calibration result for determining laser radar to be calibrated, the laser radar scaling method further include: pass through laser radar to be calibrated
The point cloud data of acquisition verifies the calibration result of laser radar to be calibrated.
Specifically, on the basis of the above embodiments, terminal can pass through the point cloud of one group of laser radar to be calibrated of acquisition
Data can be to verify the accuracy of above-mentioned calibration result and obtain a point cloud data and verify to calibration result,
It can be and obtain one group of point cloud data frame to verify to calibration result, can also be and obtain multiple point cloud datas to calibration
As a result it is verified, the embodiment of the present application is without limitation.If verification result does not pass through, can be calculated again through calibration
Method, and according to point cloud data frame to and high data, redefine the calibration result of laser radar to be calibrated.
It should be understood that although each step in the flow chart of Fig. 2-6 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-6
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
Fig. 7 is the structural schematic diagram for the laser radar caliberating device that one embodiment provides.As shown in fig. 7, laser radar
Caliberating device, comprising: first, which obtains module 10, second, obtains module 20 and demarcating module 30, in which:
First obtains module 10, for obtaining the point cloud data frame of laser radar to be calibrated in preset calibration scene
It is right；The point cloud data frame is to two cloud numbers including different directions of the laser radar to be calibrated on same position
According to；
Second obtains module 20, for obtaining high data；
Demarcating module 30, for by calibration algorithm, according to the point cloud data frame to the inertial navigation system number
According to determining the calibration result of laser radar to be calibrated；The calibration algorithm is for leading the point cloud data of laser radar with inertia
Boat system data is converted to the data under the same coordinate system.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Fig. 8 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides, embodiment shown in Fig. 7
On the basis of, the first acquisition module 10 includes: acquiring unit 101 and the first determination unit 102, in which:
Acquiring unit 101 is used at the same position in the calibration scene, obtains the laser radar to be calibrated
First point cloud data and the second point cloud data；The direction of first point cloud data is with second point cloud data towards not
Together；
First determination unit 102 is used to first point cloud data and corresponding second point cloud data being determined as institute
State point cloud data frame pair.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Fig. 9 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides, real shown in Fig. 7 or Fig. 8
On the basis of applying example, demarcating module 30 includes converting unit 301 and the second determination unit 302, in which:
Converting unit 301 is used for through the calibration algorithm, obtain the point cloud data frame to the inertial navigation system
Position transformational relation between data of uniting；
Second determination unit 302 is used to determine the calibration of the laser radar to be calibrated according to the position transformational relation
As a result.
In one embodiment, converting unit 301 is specifically used for obtaining first cloud number by the calibration algorithm
According to the first relative pose between the high data；By the calibration algorithm, the second point cloud is obtained
The second relative pose between data and the high data；According to first relative pose and second phase
To pose, the position transformational relation is determined.
In one embodiment, converting unit 301 is specifically used for first point cloud data and the second point cloud number
According to being spliced, the third relative pose between first point cloud data and second point cloud data is obtained；According to described
First relative pose, second relative pose and the third relative pose determine the position transformational relation.
In one embodiment, the second determination unit 302 is specifically used for according to the position transformational relation, by described cloud
Data frame is transformed under inertial navigation system coordinate system to from laser radar coordinate system, obtains the laser radar to be calibrated
Calibration result.
In one embodiment, demarcating module 30 is specifically used for that the multiple calibrating parameters are scanned for, enumerate and intended
Conjunction processing, obtains target designation parameter.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Figure 10 is the structural schematic diagram for the laser radar caliberating device that another embodiment provides, in any one of Fig. 7-9 institute
On the basis of showing embodiment, laser radar caliberating device further include: authentication module 40, in which:
Authentication module 40 is used to verify the laser to be calibrated by the point cloud data that the laser radar to be calibrated obtains
The calibration result of radar.
Laser radar caliberating device provided by the embodiments of the present application, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
A kind of specific restriction about laser radar caliberating device may refer to above for laser radar scaling method
Restriction, details are not described herein.Modules in above-mentioned laser radar caliberating device can be fully or partially through software, hardware
And combinations thereof realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment,
It can be stored in a software form in the memory in computer equipment, execute the above modules pair in order to which processor calls
The operation answered.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in figure 11.The computer equipment includes the processor connected by system bus, memory, network interface, shows
Display screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment
Memory includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer
Program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The meter
The network interface for calculating machine equipment is used to communicate with external terminal by network connection.When the computer equipment is executed by processor
To realize a kind of laser radar scaling method.The display screen of the computer equipment can be liquid crystal display or electric ink is aobvious
Display screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to computer equipment shell
Key, trace ball or the Trackpad of upper setting can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 11, only part relevant to disclosure scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to disclosure scheme, and specific computer is set
Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
In preset calibration scene, the point cloud data frame pair of laser radar to be calibrated is obtained；The point cloud data frame pair
Two point cloud datas of the different directions including the laser radar to be calibrated on same position；
Obtain high data；
By calibration algorithm, according to the point cloud data frame to the high data, determine and to be calibrated swash
The calibration result of optical radar；The calibration algorithm is used for the point cloud data and high data of laser radar to be calibrated
Be converted to the data under the same coordinate system.
In one embodiment, it is also performed the steps of in the calibration scene when processor executes computer program
Same position at, obtain the first point cloud data and the second point cloud data of the laser radar to be calibrated；First cloud
The direction of data and the direction of second point cloud data are different；By first point cloud data and the corresponding second point cloud
Data are determined as the point cloud data frame pair.
In one embodiment, it also performs the steps of when processor executes computer program through the calibration algorithm,
The point cloud data frame is obtained to the position transformational relation between the high data；It is converted according to the position
Relationship determines the calibration result of the laser radar to be calibrated.
In one embodiment, it also performs the steps of when processor executes computer program through the calibration algorithm,
Obtain the first relative pose between first point cloud data and the high data；It is calculated by the calibration
Method obtains the second relative pose between second point cloud data and the high data；According to described first
Relative pose and second relative pose, determine the position transformational relation.
In one embodiment, it also performs the steps of when processor executes computer program to first cloud number
Spliced according to second point cloud data, obtains the third between first point cloud data and second point cloud data
Relative pose；The position is determined according to first relative pose, second relative pose and the third relative pose
Transformational relation.
In one embodiment, it also performs the steps of when processor executes computer program and is converted according to the position
The point cloud data frame is transformed under inertial navigation system coordinate system, described in acquisition by relationship to from laser radar coordinate system
The calibration result of laser radar to be calibrated.
In one embodiment, it is also performed the steps of when processor executes computer program and the multiple calibration is joined
Number is scanned for, is enumerated and process of fitting treatment, obtains target designation parameter.
In one embodiment, it is also performed the steps of when processor executes computer program by described to be calibrated sharp
The point cloud data that optical radar obtains verifies the calibration result of the laser radar to be calibrated.
Computer equipment provided in this embodiment, implementing principle and technical effect are similar with above method embodiment,
This is repeated no more.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
In preset calibration scene, the point cloud data frame pair of laser radar to be calibrated is obtained；The point cloud data frame pair
Two point cloud datas of the different directions including the laser radar to be calibrated on same position；
Obtain high data；
By calibration algorithm, according to the point cloud data frame to the high data, determine and to be calibrated swash
The calibration result of optical radar；The calibration algorithm is used for the point cloud data and high data of laser radar to be calibrated
Be converted to the data under the same coordinate system.
In one embodiment, it is also performed the steps of when computer program is executed by processor in the calibration scene
At interior same position, the first point cloud data and the second point cloud data of the laser radar to be calibrated are obtained；Described first point
The direction of cloud data and the direction of second point cloud data are different；By first point cloud data and the corresponding second point
Cloud data are determined as the point cloud data frame pair.
In one embodiment, it also performs the steps of when computer program is executed by processor and is calculated by the calibration
Method obtains the point cloud data frame to the position transformational relation between the high data；According to the position
Transformational relation determines the calibration result of the laser radar to be calibrated.
In one embodiment, it also performs the steps of when computer program is executed by processor and is calculated by the calibration
Method obtains the first relative pose between first point cloud data and the high data；Pass through the calibration
Algorithm obtains the second relative pose between second point cloud data and the high data；According to described
One relative pose and second relative pose, determine the position transformational relation.
In one embodiment, it is also performed the steps of when computer program is executed by processor to first cloud
Data and second point cloud data are spliced, and the between first point cloud data and second point cloud data is obtained
Three relative poses；Institute's rheme is determined according to first relative pose, second relative pose and the third relative pose
Set transformational relation.
In one embodiment, it also performs the steps of when computer program is executed by processor and is turned according to the position
Relationship is changed, the point cloud data frame is transformed under inertial navigation system coordinate system to from laser radar coordinate system, obtains institute
State the calibration result of laser radar to be calibrated.
In one embodiment, it also performs the steps of when computer program is executed by processor to the multiple calibration
Parameter scans for, enumerates and process of fitting treatment, obtains target designation parameter.
In one embodiment, it also performs the steps of when computer program is executed by processor by described to be calibrated
The point cloud data that laser radar obtains verifies the calibration result of the laser radar to be calibrated.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided by the disclosure,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of laser radar scaling method, which is characterized in that the described method includes:
In preset calibration scene, the point cloud data frame pair of laser radar to be calibrated is obtained；The point cloud data frame is to including
Two point cloud datas of different directions of the laser radar to be calibrated on same position；
Obtain high data；
By calibration algorithm, according to the point cloud data frame to the high data, determine laser thunder to be calibrated
The calibration result reached；The calibration algorithm is used to convert the point cloud data of laser radar to be calibrated and high data
For the data under the same coordinate system.
2. method according to claim 1, which is characterized in that it is described in preset calibration scene, obtain laser to be calibrated
The point cloud data frame pair of radar, comprising:
At the same position in the calibration scene, the first point cloud data and second point of the laser radar to be calibrated are obtained
Cloud data；The direction of first point cloud data and the direction of second point cloud data are different；
First point cloud data and corresponding second point cloud data are determined as the point cloud data frame pair.
3. method according to claim 2, which is characterized in that it is described by calibration algorithm, according to the point cloud data frame pair
With the high data, the calibration result of laser radar to be calibrated is determined, comprising:
By the calibration algorithm, obtains the point cloud data frame and the position between the high data is converted
Relationship；
According to the position transformational relation, the calibration result of the laser radar to be calibrated is determined.
4. method according to claim 3, which is characterized in that it is described by the calibration algorithm, obtain the point cloud data
Frame is to the position transformational relation between the high data, comprising:
By the calibration algorithm, first between acquisition first point cloud data and the high data is opposite
Pose；
By the calibration algorithm, second between acquisition second point cloud data and the high data is opposite
Pose；
According to first relative pose and second relative pose, the position transformational relation is determined.
5. method according to claim 4, which is characterized in that it is described by the calibration algorithm, obtain the point cloud data
Frame is to the position transformational relation between the high data, further includes:
First point cloud data and second point cloud data are spliced, first point cloud data and described the are obtained
Third relative pose between two point cloud datas；
Determine that the position conversion is closed according to first relative pose, second relative pose and the third relative pose
System.
6. method according to claim 3, which is characterized in that it is described according to the position transformational relation, it determines described wait mark
Determine the calibration result of laser radar, comprising:
According to the position transformational relation, by the point cloud data frame to being transformed into inertial navigation system from laser radar coordinate system
It unites under coordinate system, obtains the calibration result of the laser radar to be calibrated.
7. any one of -6 the method according to claim 1, which is characterized in that if the calibration result includes multiple calibration ginsengs
Number, then the method also includes:
The multiple calibrating parameters are scanned for, are enumerated and process of fitting treatment, target designation parameter is obtained.
8. any one of -6 the method according to claim 1, which is characterized in that it is described according to the position transformational relation, it determines
After the calibration result of the laser radar to be calibrated, the method also includes:
The calibration result of the laser radar to be calibrated is verified by the point cloud data that the laser radar to be calibrated obtains.
9. a kind of laser radar caliberating device, which is characterized in that described device includes:
First obtains module, for obtaining the point cloud data frame pair of laser radar to be calibrated in preset calibration scene；It is described
Point cloud data frame is to two point cloud datas including different directions of the laser radar to be calibrated on same position；
Second obtains module, for obtaining high data；
Demarcating module, for by calibration algorithm, according to the point cloud data frame to the high data, determine
The calibration result of laser radar to be calibrated；The calibration algorithm is used for the point cloud data of laser radar and inertial navigation system number
According to the data be converted under the same coordinate system.
10. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 1-8 the method.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method of any of claims 1-8 is realized when being executed by processor.
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| CN114413887A (en) * | 2021-12-24 | 2022-04-29 | 北京理工大学前沿技术研究院 | Method, equipment and medium for calibrating external parameters of sensor |
| CN114413887B (en) * | 2021-12-24 | 2024-04-02 | 北京理工大学前沿技术研究院 | Sensor external parameter calibration method, device and medium |
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